\section*{\large Brief description}
\begin{normalsize}

In this lab, we have to plan the motion of a NAO robot in a 2D simulated environment populated by obstacles. It has to walk through a prefix path avoiding collisions with other objects around it. We report the main steps:
\begin{itemize}
\item add a new map image, see Figure \ref{fig:my_map}, and the respective yaml configuration file in the folder \emph{maps} of the rospacket \emph{footstep\_planner};

\begin{figure}[!htb]
\centering
\includegraphics[scale=0.2]{./images/mouse_enhanced.png}
\caption{our map \label{fig:my_map}}
\end{figure}

\item modify the launcher file \emph{footstep\_navigation.launch} so to load the new map and launch it, see Figure \ref{fig:rviz};

\begin{figure}[!htb]
\centering
\includegraphics[scale=0.2]{./images/rviz.png}
\caption{new map in rviz \label{fig:rviz}}
\end{figure}

\item choose Nao starting and end points respectively with 2D Pose Estimate and 2D Nav Goal in Rviz;
\item click on Publish Point.
\end{itemize}

You can watch our video at \url{https://www.youtube.com/watch?v=lHO8AgcDA10}.

\end{normalsize}